#ifndef VISUALKUKAROBOTBACKEND_H
#define VISUALKUKAROBOTBACKEND_H

#include <QObject>
#include <qtcpserver.h>
#include <qtcpsocket.h>

#include "_Interface/_global_datastruct.h"
#include "_Interface/_interface_backend.h"
#include "Package/kukarsiudpserverdll_global.h"
#include "Package/simpletcpsocketdll_global.h"
#include "Package/sriforcesensordll_global.h"
#include "Package/kukarsisensorguidedll_global.h"

class kukaforceguidebackend : public BackendInterface{
public:
    kukaforceguidebackend();
    ~kukaforceguidebackend();

private:
    KuKaRsiSensroGuideDLL* mKuKaRsiSensroGuide;
    SRIForceSensorDLL* mSRIForceSensor;

public:
    short KUKAProcess();
    short getKUKARIst(double (&KUKARIst)[6]);
    short getKUKAAIst(double (&KUKAAIst)[6]);
    short getKUKAATor(double (&KUKAATor)[6]);
    short setKUKARInc(double KUKARInc[6]);

    short ForceSensorConnect();
    short ForceSensorLoopRun();
    short ForceSensorZeroDeal();
    short ReadForceSensorData(double (&Data)[6]);
};

#endif // VISUALKUKAROBOTBACKEND_H
